PhyObject Class Reference

PhyObject class. More...

Inheritance diagram for PhyObject:

Public Member Functions
	PhyObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool cp=true)
	Create a physics object with no-collision-shape and insert it in the world passed. More...
virtual	~PhyObject ()
	Destroy this object. More...
void	addForce (const wVector &force)
void	addImpulse (const wVector &pointDeltaVeloc, const wVector &pointPosit)
void	addTorque (const wVector &torque)
wVector	force ()
bool	getKinematic () const
	Returns true if the object has kinematic behaviour. More...
bool	getStatic () const
	Returns true if the object is static. More...
wVector	inertiaVec () const
wVector	invInertiaVec () const
	Return the inverse of Inertia. More...
wVector	invMassInertiaVec () const
bool	isCollidable () const
	Returns true if this object collides with other object. More...
real	mass ()
	Return the mass. More...
wVector	massInertiaVec () const
	Return the Mass and momentum of Inertia. More...
QString	material () const
wVector	omega ()
void	reset ()
	reset the object: set the velocity to zero set the angural velocity to zero set any residual forces and torques to zero remove any pending collision More...
void	setForce (const wVector &force)
void	setKinematic (bool b, bool c=false)
	Changes between kinematic/dynamic behaviour for the object. More...
void	setMass (real)
	Set the mass without touching the Inertia data. More...
void	setMassInertiaVec (const wVector &)
	Set the Mass and momentum of Inertia: ( mass, Ixx, Iyy, Izz ) More...
void	setMaterial (QString material)
void	setOmega (const wVector &omega)
void	setStatic (bool b)
	Makes the object static or not. More...
void	setTorque (const wVector &torque)
void	setVelocity (const wVector &velocity)
wVector	torque ()
wVector	velocity ()
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world More...
virtual	~WObject ()
	destroy the Object and drop it from the world More...
QColor	color () const
	return the color of this object More...
void	drawLocalAxes (bool d)
	Sets whether the object local frame of reference should be drawn or not. More...
bool	isInvisible () const
	return if it is invisible More...
const QString &	label () const
	Returns the text label to render along with the object. More...
const QColor &	labelColor () const
	Returns the color of the label. More...
const wVector &	labelPosition () const
	Returns the label position relative to this object. More...
bool	labelShown () const
	Returns whether the label is shown or not. More...
bool	localAxesDrawn () const
	Returns true if the local frame of refecence of the object should be drawn. More...
const wMatrix &	matrix () const
	return a reference to the transformation matrix More...
QString	name () const
	Return the name of this object. More...
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update More...
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update More...
void	setAlpha (int alpha)
	set the value of alpha channel (the transparency) More...
void	setColor (QColor c)
	Set the color to use on rendering. More...
void	setInvisible (bool b)
	set invisibility More...
void	setLabel (QString label)
	Sets a text label to render along with the object. More...
void	setLabel (QString label, wVector pos)
	Sets a text label to render along with the object and its position. More...
void	setLabel (QString label, wVector pos, QColor color)
	Sets a text label to render along with the object and its position and color. More...
void	setLabelColor (const QColor &color)
	Sets the color of the label. More...
void	setLabelPosition (const wVector &pos)
	Sets the label position relative to this object. More...
void	setMatrix (const wMatrix &newm)
	set a new matrix More...
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame More...
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame More...
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered. More...
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one) More...
void	showLabel (bool show)
	Sets whether to show the label or not. More...
QString	texture () const
	Return the texture name. More...
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one) More...
World *	world ()
	Return the world. More...
const World *	world () const
	Return the world (const version) More...
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor. More...
virtual	~Ownable ()
	Destructor. More...
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one. More...
Ownable *	owner () const
	Returns the owner of this object. More...
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object. More...

Protected Member Functions
virtual void	changedMatrix ()
	syncronize this object with underlying physic object More...
void	createPrivateObject ()

Protected Attributes
PhyObjectPrivate *	priv
	Engine encapsulation. More...
WorldPrivate *	worldpriv
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel. More...
bool	invisible
	if TRUE it will not renderized More...
QColor	labelcol
	The color of the label. More...
bool	labeldrawn
	Whether the label should be rendered or not. More...
wVector	labelpos
	The position of the label in the object frame of reference. More...
QString	labelv
	The text label of the object. More...
bool	localFrameOfReferenceDrawn
	If true, the local frame of reference of the object is drawn. More...
QString	namev
	Name of the WObject. More...
QString	texturev
	Texture name. More...
wMatrix	tm
	Trasformation matrix. More...
bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one). More...
World *	worldv
	World. More...

Friends
class	PhyCompoundObject
class	PhyJoint
class	PhyObjectPrivate
class	World
class	WorldPrivate

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...

Detailed Description

PhyObject class.

\

Motivation

The PhyObject represent a physical object.

Description

Warnings

Warnings

Definition at line 46 of file phyobject.h.

Constructor & Destructor Documentation

PhyObject	(	World *	world,
		QString	name = "unamed",
		const wMatrix &	tm = wMatrix::identity(),
		bool	cp = true
	)

Create a physics object with no-collision-shape and insert it in the world passed.

Parameters

world	The World which object will be inserted
tm	rotation and position at the moment of creation
cp	is for internal use; ignore it

Definition at line 26 of file phyobject.cpp.

References PhyObject::changedMatrix(), and PhyObject::priv.

~PhyObject ( )

virtual

Destroy this object.

Definition at line 46 of file phyobject.cpp.

References PhyObject::priv.

Member Function Documentation

void changedMatrix ( )

protectedvirtual

syncronize this object with underlying physic object

Reimplemented from WObject.

Definition at line 145 of file phyobject.cpp.

References PhyObject::priv, and WObject::tm.

Referenced by PhyBox::PhyBox(), PhyCompoundObject::PhyCompoundObject(), PhyCone::PhyCone(), PhyCylinder::PhyCylinder(), PhyEllipsoid::PhyEllipsoid(), PhyObject::PhyObject(), and PhySphere::PhySphere().

bool getKinematic ( ) const

inline

Returns true if the object has kinematic behaviour.

Returns

true if the object has kinematic behaviour

Definition at line 72 of file phyobject.h.

Referenced by World::smartCheckContacts().

bool getStatic ( ) const

inline

Returns true if the object is static.

Returns

true if the object is static

Definition at line 97 of file phyobject.h.

Referenced by World::smartCheckContacts().

wVector invInertiaVec

(

)

const

Return the inverse of Inertia.

Definition at line 210 of file phyobject.cpp.

bool isCollidable ( ) const

inline

Returns true if this object collides with other object.

To collide with other objects, this must be non-kinematic or, if it is, setKinematic must have been called with the c parameter set to true

Returns

true if this object collides with other object.

Definition at line 82 of file phyobject.h.

real mass

(

)

Return the mass.

Definition at line 243 of file phyobject.cpp.

Referenced by PhyCompoundObject::createPrivateObject().

wVector massInertiaVec

(

)

const

Return the Mass and momentum of Inertia.

Definition at line 193 of file phyobject.cpp.

void reset

(

)

reset the object:

set the velocity to zero

set the angural velocity to zero

set any residual forces and torques to zero

remove any pending collision

Definition at line 120 of file phyobject.cpp.

References PhyObject::priv.

void setKinematic	(	bool	b,
		bool	c = false
	)

Changes between kinematic/dynamic behaviour for the object.

A kinematic object doesn't interact at all with other objects; it can only be moved directly setting its transformation matrix. By default the object is dynamic

Parameters

b	if true the object is set to kinematic behaviour
c	if true the object collides with other objects even in kinematic mode, influencing them without being influenced (technically, we set its mass to 0 in Newton Game Dynamics engine)

Definition at line 56 of file phyobject.cpp.

References PhyObject::priv, and WObject::tm.

Referenced by PhyKhepera::doKinematicSimulation(), PhyEpuck::doKinematicSimulation(), and PhyMarXbot::doKinematicSimulation().

void setMass

(

real

newmass

)

Set the mass without touching the Inertia data.

Definition at line 219 of file phyobject.cpp.

References PhyObject::priv.

Referenced by PhySphere::createPrivateObject(), PhyCone::createPrivateObject(), PhyCompoundObject::createPrivateObject(), PhyEllipsoid::createPrivateObject(), PhyBox::createPrivateObject(), PhyCylinder::createPrivateObject(), PhyMarXbot::enableAttachmentDevice(), PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), and PhyMarXbot::PhyMarXbot().

void setMassInertiaVec

(

const wVector &

mi

)

Set the Mass and momentum of Inertia: ( mass, Ixx, Iyy, Izz )

Definition at line 184 of file phyobject.cpp.

References PhyObject::priv.

void setStatic

(

bool

b

)

Makes the object static or not.

A static object is unaffected by external forces

Parameters

b	if true the object is static

Definition at line 107 of file phyobject.cpp.

References PhyObject::priv.

Member Data Documentation

PhyObjectPrivate* priv

protected

Engine encapsulation.

Definition at line 159 of file phyobject.h.

Referenced by PhyObject::changedMatrix(), World::checkContacts(), World::closestPoints(), World::collisionRayCast(), PhySphere::createPrivateObject(), PhyCone::createPrivateObject(), PhyCompoundObject::createPrivateObject(), PhyEllipsoid::createPrivateObject(), PhyBox::createPrivateObject(), PhyCylinder::createPrivateObject(), PhyJoint::PhyJoint(), PhyObject::PhyObject(), PhyObject::reset(), PhyObject::setKinematic(), PhyObject::setMass(), PhyObject::setMassInertiaVec(), PhyObject::setStatic(), and PhyObject::~PhyObject().

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The documentation for this class was generated from the following files:

• worldsim/include/phyobject.h
• worldsim/src/phyobject.cpp